Program Listing for File hms.hpp

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/*
 * Copyright (C) 2024 Unmanned Life
 * This Source Code Form is subject to the terms of the Mozilla Public
 * License, v. 2.0. If a copy of the MPL was not distributed with this
 * file, You can obtain one at http://mozilla.org/MPL/2.0/.
 */

#ifndef PSDK_WRAPPER_INCLUDE_PSDK_WRAPPER_MODULES_HMS_HPP_
#define PSDK_WRAPPER_INCLUDE_PSDK_WRAPPER_MODULES_HMS_HPP_

#include <dji_hms.h>             //NOLINT
#include <dji_hms_info_table.h>  //NOLINT
#include <math.h>

#include <fstream>
#include <memory>
#include <nlohmann/json.hpp>
#include <rclcpp/rclcpp.hpp>
#include <rclcpp_lifecycle/lifecycle_node.hpp>
#include <shared_mutex>
#include <string>

#include "psdk_interfaces/msg/hms_info_msg.hpp"
#include "psdk_interfaces/msg/hms_info_table.hpp"
#include "psdk_wrapper/utils/json_utils.hpp"

namespace psdk_ros2
{

class HmsModule : public rclcpp_lifecycle::LifecycleNode
{
 public:
  explicit HmsModule(const std::string& name);

  ~HmsModule();

  CallbackReturn on_configure(const rclcpp_lifecycle::State& state);

  CallbackReturn on_activate(const rclcpp_lifecycle::State& state);
  CallbackReturn on_cleanup(const rclcpp_lifecycle::State& state);
  CallbackReturn on_deactivate(const rclcpp_lifecycle::State& state);
  CallbackReturn on_shutdown(const rclcpp_lifecycle::State& state);

  bool init();

  bool deinit();

  std::string hms_return_codes_path_;

 private:
  friend T_DjiReturnCode c_hms_callback(T_DjiHmsInfoTable hms_info_table);

  T_DjiReturnCode hms_callback(T_DjiHmsInfoTable hms_info_table);

  psdk_interfaces::msg::HmsInfoTable to_ros2_msg(
      const T_DjiHmsInfoTable& hms_info_table, const nlohmann::json& codes,
      const char* language = "en");

  rclcpp_lifecycle::LifecyclePublisher<
      psdk_interfaces::msg::HmsInfoTable>::SharedPtr hms_info_table_pub_;
  std::shared_mutex publisher_mutex_;
  mutable std::shared_mutex global_ptr_mutex_;
  bool is_module_initialized_{false};

  nlohmann::json hms_return_codes_json_;
};
extern std::shared_ptr<HmsModule> global_hms_ptr_;

}  // namespace psdk_ros2

#endif  // PSDK_WRAPPER_INCLUDE_PSDK_WRAPPER_MODULES_HMS_HPP_